CN104360595B - Method for MCP-PID parameter setting of delay-free inertia process - Google Patents

Abstract

The invention relates to a method for MCP-PID parameter setting of a delay-free inertia process. The method for MCP-PID parameter setting of the delay-free inertia process comprises the following steps that (1) the type of the current delay-free inertia controlled process is recognized, the model parameters of the controlled process are obtained, wherein controlled processes comprise the single-capacity process, the double-capacity process, a three-capacity and the multi-capacity process; (2) a control requirement is obtained, and the PID type is selected according to the requirement, wherein the PID types comprise the P type, the PI type and the PID type; (3) a MCP-PID parameter setting computation sheet for the delay-free inertia process is established, according to the MCP-PID parameter setting computation sheet, the type, obtained in the step (1), of the controlled process and the PID type obtained in the step (2), the computation formula of the PID controller is obtained, and PID controller parameter setting is conducted. Compared with the prior art, the method for MCP-PID parameter setting of the delay-free inertia process has the advantages of being wide in application range, small in overshoot, high in stability, high in robustness, low in oscillation property and the like.

Description

No delay the mcp-pid parameter tuning method of Inertial Processing

Technical field

The present invention relates to a kind of pid parameter tuning method, especially relate to the mcp-pid ginseng that a kind of nothing delays Inertial Processing Number setting method.

Background technology

Pid controller is most widely used industrial control unit (ICU) in the world.The invention of pid controller can trace back to 1939 United States Patent (USP), it is to be declared by the Kao Lunde (albert callender) of Britain and Stevenson (allan stevnson) 's.Due to reliability, the simple and practical property of pid control, more than 95% process control loops still adopt pid control mode.

The performance of pid control system depends primarily on adjusting of pid controller parameter.Therefore, the parameter of pid controller is whole Determining technology becomes the key of pid controller implementation success.Nineteen forty-two tayor, j.g.ziegler and n.b.nichols of company carried The ziegler--nichols going out criterion of adjusting is the most influential pid attitude conirol method.But, Ziegler--nichols adjusts criterion just for there being the controlled process delayed.The controlled process delayed for nothing not yet has Effect, generally acknowledged pid attitude conirol universal method.For this reason, a set of no delay controlled of being applied to of necessary exploitation Process pid attitude conirol universal method.

In the controlled process no delayed, the Inertial Processing no delayed is a common big class controlled process, and the present invention is special Pid attitude conirol demand for such controlled process proposes.

Content of the invention

The purpose of the present invention is exactly to overcome the defect of above-mentioned prior art presence to provide a kind of nothing to delay inertia mistake The mcp-pid parameter tuning method of journey, it is adaptable to no delay the controlled process of inertia, has that applied widely, overshoot is little, steady The advantages of qualitative strong, robustness height and oscillating characteristic weaken.

The purpose of the present invention can be achieved through the following technical solutions:

A kind of nothing delays the mcp-pid parameter tuning method of Inertial Processing, comprises the following steps:

1) identification, currently without the type delaying inertia controlled process, obtains the model parameter of controlled process, described is controlled Process includes single appearance process, double volume process, three appearance processes and many appearances process；

2) obtain to control and require, and pid type is chosen according to this requirement, described pid type includes p-type, pi type and pid Type；

3) set up the mcp-pid parameter tuning computational chart no delaying Inertial Processing, in conjunction with step 1), 2) the controlled mistake that obtains Journey type and pid type, obtain pid controller parameter computing formula, carry out adjusting of pid controller parameter；

Described nothing delay Inertial Processing mcp-pid parameter tuning computational chart particularly as follows:

Wherein, g_cS () is the transmission function expression formula of pid controller, g₀S () is the transmission function expression formula of controlled process, K is the gain of controlled process, t, t₁、t₂、t₃It is the inertia time constant of controlled process,For the characteristics of equivalents holding process more The inertia time constant of model, τ is the delay time parameter of the characteristics of equivalent models holding process more, k_p、t_i、t_dIt is respectively pid control The proportionality coefficient of device processed, integration time constant and derivative time constant.

The characteristics of equivalent model of described many appearances process isWherein,Reduction formula of equal value with τ is:

$\hat{t}=\frac{t_0}{\tan \left(\frac{\mathrm{\π}}{n}\right)}\sqrt{{({\tan }^2\left(\frac{\mathrm{\π}}{n}\right)+1)}^n-1}$

$\mathrm{\τ}=\frac{t_0}{\tan \left(\frac{\mathrm{\π}}{n}\right)}(\mathrm{\π}-{\tan }^{-1}\sqrt{{({\tan }^2\left(\frac{\mathrm{\π}}{n}\right)+1)}^n-1})$

In formula, t₀For the inertia time constants holding process, n is the volume number holding process more more.

Compared with prior art, the invention has the advantages that

1) present invention applies to the mcp-pid parameter tuning method of the Inertial Processing that nothing is delayed, and extends existing adjusting The suitability of method.

2) the inventive method is adjusted using mcp-pid parameter tuning computational chart, has applied widely, overshoot The characteristic that little, stability is strong, robustness is high and oscillating characteristic weakens, is suitable for popularization and application in engineering.

Specific embodiment

With reference to specific embodiment, the present invention is described in detail.The present embodiment is premised on technical solution of the present invention Implemented, given detailed embodiment and specific operating process, but protection scope of the present invention be not limited to following Embodiment.

A kind of nothing delays mcp-pid (pid based on the mcp standard transfer function) parameter tuning method of Inertial Processing, bag Include following steps:

1) identification, currently without the type delaying inertia controlled process, obtains the model parameter of controlled process, described is controlled Process includes single appearance processDouble volume processThree appearance processesHold process with more

2) obtain to control and require, and pid type is chosen according to this requirement, described pid type includes proportional controller (p Type: g_c(s)=k_p), pi controller (pi type:) and proportional integral derivative controller (pid type: $g_c\left(s\right)=k_p(1+\frac{1}{t_{i}s}+t_{d}s)$ ).

3) set up the mcp-pid parameter tuning computational chart no delaying Inertial Processing, in conjunction with step 1), 2) the controlled mistake that obtains Journey type and pid type, obtain pid controller parameter computing formula, carry out adjusting of pid controller parameter, finally by parameter Result of calculation uses as in pid controller.

The mcp-pid parameter tuning computational chart that described nothing delays Inertial Processing is as shown in table 1.The derivation of this computational chart Journey can be sketched, and first derives the pid control system transmission function delaying Inertial Processing model for nothing, then hold inertia with more (mcp) standard transfer function compares, and lists Simultaneous Equations, and some Heuristicses comprehensive and reasonable assumption solve pid parameter Computing formula.

Table 1

Wherein, g_cS () is the transmission function expression formula of pid controller, g₀S () is the transmission function expression formula of controlled process, K is the gain of controlled process, t, t₁、t₂、t₃It is the inertia time constant of controlled process,For the characteristics of equivalent moulds holding process more The inertia time constant of type, τ is the delay time parameter of the characteristics of equivalent models holding process more, k_p、t_i、t_dIt is respectively pid to control The proportionality coefficient of device, integration time constant and derivative time constant.

The characteristics of equivalent model of described many appearances process isWherein,Reduction formula of equal value with τ is:

$\hat{t}=\frac{t_0}{\tan \left(\frac{\mathrm{\π}}{n}\right)}\sqrt{{({\tan }^2\left(\frac{\mathrm{\π}}{n}\right)+1)}^n-1}---\left(1\right)$

$\mathrm{\τ}=\frac{t_0}{\tan \left(\frac{\mathrm{\π}}{n}\right)}(\mathrm{\π}-{\tan }^{-1}\sqrt{{({\tan }^2\left(\frac{\mathrm{\π}}{n}\right)+1)}^n-1})---\left(2\right)$

In formula, t₀For the inertia time constants holding process, n is the volume number holding process more more.

Assume that certain controlled process can be described by formula (3), and learn that its model design parameter is k=3, t₁=1, t₂=2, t₃=3.If the pid type controller selecting pid controller to describe for formula (4), corresponding formula in table 1 can be chosen corresponding to calculate Pid controller parameter, specifically as shown in formula (5), formula (6) and formula (7).

$\frac{k}{(t_{1}s+1)(t_{2}s+1)(t_{3}s+1)}---\left(3\right)$

$g_c\left(s\right)=k_p(1+\frac{1}{t_{i}s}+t_{d}s)---\left(4\right)$

$k_p=\frac{1}{k}(\frac{{(t_1{t}_2+t_2{t}_3+t_3{t}_1)}^3}{16{\left(t_1{t}_2{t}_3\right)}^2}-1)=\frac{1}{3}(\frac{{(2+2\×3+3)}^3}{16{(1\×2\×3)}^2}-1)=0.43692---\left(5\right)$

$t_i=\frac{256{\left(t_1{t}_2{t}_3\right)}^3}{{(t_1{t}_2+t_2{t}_3+t_3{t}_1)}^4}(\frac{{(t_1{t}_2+t_2{t}_3+t_3{t}_1)}^3}{16{\left(t_1{t}_2{t}_3\right)}^2}-1)=\frac{256{\left(6\right)}^3}{{(2+6+3)}^4}(\frac{{(2+6+3)}^3}{16{\left(6\right)}^2}-1)=4.95048---\left(6\right)$

$t_d=\frac{\frac{0.375{(t_1{t}_2+t_2{t}_3+t_3{t}_1)}^2}{t_1{t}_2{t}_3}-t_1-t_2-t_3}{\frac{{(t_1{t}_2+t_2{t}_3+t_3{t}_1)}^3}{16{\left(t_1{t}_2{t}_3\right)}^2}-1}=\frac{\frac{{0.375\left(11\right)}^2}{6}-1-2-3}{\frac{{\left(11\right)}^3}{16{\left(6\right)}^2}-1}=1.19205---\left(7\right).$

Claims (1)

1. a kind of nothing delays the mcp-pid parameter tuning method of Inertial Processing it is characterised in that comprising the following steps:

1) identification is currently without the type delaying inertia controlled process, obtains the model parameter of controlled process, described controlled process Including single appearance process, double volume process, three appearance processes with hold process more；

2) obtain to control and require, and pid type is chosen according to this requirement, described pid type includes p-type, pi type and pid type；

3) set up the mcp-pid parameter tuning computational chart no delaying Inertial Processing, in conjunction with step 1), 2) the controlled process class that obtains Type and pid type, obtain pid controller parameter computing formula, carry out adjusting of pid controller parameter；

Described nothing delay Inertial Processing mcp-pid parameter tuning computational chart particularly as follows:

Wherein, g_cS () is the transmission function expression formula of pid controller, g₀S () is the transmission function expression formula of controlled process, k is The gain of controlled process, t, t₁、t₂、t₃It is the inertia time constant of controlled process,For the characteristics of equivalent models holding process more Inertia time constant, τ is the delay time parameter of the characteristics of equivalent models holding processes more, k_p、t_i、t_dIt is respectively pid controller Proportionality coefficient, integration time constant and derivative time constant；

The characteristics of equivalent model of described many appearances process isWherein,Reduction formula of equal value with τ is:

$\hat{t}=\frac{t_0}{tan\left(\frac{\mathrm{\π}}{n}\right)}\sqrt{{\left({\tan }^2\right(\frac{\mathrm{\π}}{n})+1)}^n-1}$

$\mathrm{\τ}=\frac{t_0}{tan\left(\frac{\mathrm{\π}}{n}\right)}(\mathrm{\π}-{\tan }^{-1}\sqrt{{\left({\tan }^2\right(\frac{\mathrm{\π}}{n})+1)}^n-1})$

In formula, t₀For the inertia time constants holding process, n is the volume number holding process more more.